A bus capacitor energy storage active disturbance rejection control method and device for a multiphase permanent magnet generator

Abstract

This invention discloses a method and device for bus capacitor energy storage active disturbance rejection voltage regulation control of a multiphase permanent magnet generator. The method establishes a bus capacitor energy balance equation based on the square of the DC bus voltage, and then restructures the equation into a linear active disturbance rejection standard form. A second-order linear extended state observer is designed to estimate the square of the DC bus voltage and the total disturbance in real time. A state feedback control law is designed based on the disturbance compensation principle to generate a virtual control quantity and obtain the linear active disturbance rejection current. The load current is low-pass filtered, and the feedforward current is calculated based on the power balance relationship and superimposed on the linear active disturbance rejection current to obtain the q-axis current reference. This reference current is then limited and subjected to anti-integral saturation processing before output. The difference between the reference current and the q-axis current is subjected to closed-loop control, and the resulting q-axis voltage is used as the generator voltage setpoint. All setpoint voltages are converted into the duty cycle of each phase for output. This invention achieves rapid and stable control of the bus voltage, with strong disturbance rejection capability and rapid dynamic response.

Description

Technical Field

[0001] This invention belongs to the field of advanced control technology for permanent magnet synchronous generators, and particularly relates to a method and device for self-disruption suppression and voltage stabilization control of bus capacitor energy storage for multiphase permanent magnet generators. Background Technology

[0002] Dual three-phase permanent magnet generators have gained widespread attention in wind power, aerospace, and independent power supply systems due to their high reliability, high power density, and low torque ripple. In generator systems, the stability of the DC bus voltage is a crucial prerequisite for ensuring the normal operation of the downstream inverter and load.

[0003] Currently, traditional permanent magnet generator voltage regulation control mainly adopts a dual-closed-loop control structure, with both the voltage outer loop and current inner loop typically using PI controllers. However, due to the square relationship between the DC bus voltage and its stored energy, the voltage control system is inherently a nonlinear system, making it difficult for traditional linear PI controllers to achieve optimal dynamic tracking across the entire operating range. Furthermore, when the generator system frequently faces load surges and system parameter drift, the PI controller has limited ability to suppress external disturbances and internal model uncertainties, easily leading to significant voltage drops or overshoots on the bus. Especially when the system is under large-signal dynamic response or overload conditions, the controller is prone to integral saturation, resulting in long system recovery times and even triggering bus overvoltage or undervoltage protection.

[0004] Chinese patent (CN120675464A) discloses a method and apparatus for achieving fast and accurate tracking of generator quadrature-axis current based on a deadbeat predictive current controller. Deadbeat prediction relies on the accuracy of the model, which weakens the system's control precision over long-term operation. Chinese patent (CN121077306A) discloses a voltage regulation control method and system for an aircraft permanent magnet generator; however, this method still uses traditional PI control as the control method for the current inner loop and voltage outer loop, failing to achieve high dynamic and accurate control of the voltage regulation control system. Chinese patent (CN118611499A) discloses a fast voltage regulation control method for a permanent magnet generator based on an improved sliding mode controller. Using a sliding mode controller can cause system chattering problems, resulting in high-frequency oscillations in the generator system's voltage output, and even system instability.

[0005] It can be seen that although some improved control strategies have been proposed in recent years, they often involve huge computational loads and are difficult to simultaneously achieve system linearity, real-time disturbance compensation, and anti-saturation performance under large signals. Therefore, there is an urgent need for a control method and device that can achieve accurate bus voltage regulation, rapid disturbance rejection, and good robustness. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a bus capacitor energy storage active disturbance rejection voltage regulation control method and device for multiphase permanent magnet generators. This effectively solves the technical problems of nonlinear distortion, poor dynamic disturbance rejection performance, and integral saturation inherent in traditional PI control for bus voltage control. By introducing bus voltage square linearization processing, linear active disturbance rejection control, and bus energy storage feedforward technology, direct control of bus energy and real-time compensation for total disturbances are achieved.

[0007] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0008] A method for self-disruption suppression and voltage regulation control of bus capacitor energy storage in a multiphase permanent magnet generator includes the following steps:

[0009] Step (1): Real-time acquisition of DC bus voltage, DC side load current, generator electric angular velocity, generator electric angle, and six-phase current, and receiving the given bus voltage;

[0010] Step (2): Construct the energy balance equation of the bus capacitor based on the square of the DC bus voltage;

[0011] Step (3): Based on the bus capacitor energy balance equation, establish the first-order equivalent controlled object and rearrange it into the standard form of linear active disturbance rejection;

[0012] Step (4): Construct a linear extended state observer to estimate the square of the DC bus voltage and the total disturbance online, and obtain the estimated value of the square of the DC bus voltage and the estimated value of the total disturbance.

[0013] Step (5): The difference between the given square bus voltage and the estimated square DC bus voltage is used as the tracking error to generate a virtual control quantity, and the linear active disturbance rejection current component is obtained based on the disturbance compensation principle.

[0014] Step (6): Filter the DC-side load current and construct the load feedforward current component, and superimpose it with the linear active disturbance rejection current component to obtain the q-axis current reference.

[0015] Step (7): Limit the q-axis current reference and perform anti-integral saturation processing before outputting. , which serves as the inner current loop reference for the generator;

[0016] Step (8), use a PI controller to... The difference between the current and the q-axis is used for closed-loop control. The resulting q-axis voltage is used as the given voltage of the generator. The id=0 control strategy is adopted to determine the given voltages of the d-axis, x-axis, and y-axis. All given voltages are transformed by coordinate to obtain the six-phase reference voltage. The six-phase reference voltage is converted into the duty cycle signal of each phase and applied to the inverter, thereby realizing closed-loop DC bus voltage regulation control by utilizing the energy storage of the bus capacitor.

[0017] Furthermore, step (2) specifically includes:

[0018] The real-time collected six-phase current is transformed to obtain the current in a synchronous rotating coordinate system; the electric angle of the generator participates in the coordinate transformation.

[0019] Calculating the electromagnetic power of a multiphase permanent magnet generator in a synchronous rotating coordinate system using the q-axis current. ;

[0020] Furthermore, the DC bus energy balance equation for the dual three-phase permanent magnet synchronous generator is constructed: ,in, It is the capacitance value on the DC bus. For load power, This is the DC bus voltage.

[0021] Furthermore, step (3) specifically includes:

[0022] The controlled variable is selected as the square of the DC bus voltage, i.e. The DC bus energy balance equation can be further expressed as:

[0023]

[0024] Rearranged into the standard form of linear active disturbance rejection:

[0025]

[0026] in, The electric angular velocity of the generator. This refers to the flux linkage amplitude of the permanent magnet in the generator. It is the q-axis current of the synchronously rotating coordinate system. express The differential, To control the input, To control the gain, This represents the total disturbance.

[0027] Furthermore, step (4) specifically includes:

[0028] Total disturbance Considered an expansion state Establish an extended state-space model:

[0029]

[0030] in, yes The differential, and , For the total disturbance, The rate of change of the disturbance;

[0031] Design a second-order linear extended state observer to observe disturbances:

[0032]

[0033] in, yes The estimated value, It is the total disturbance The estimated value, and It is the gain of the observer;

[0034] Using a bandwidth parameterization method, the observer characteristic polynomial is configured as follows:

[0035]

[0036] Solve for the gain of the observer Where s is the Laplace field operator, The bandwidth of the observer;

[0037] The obtained gain and Substituting these values ​​into the second-order linear extended state observer, we obtain estimates of the square of the DC bus voltage and the total disturbance.

[0038] Furthermore, step (5) specifically includes:

[0039] Define the tracking error e such that Virtual control quantities are obtained through a PI controller. :

[0040]

[0041] in, It is the proportional gain coefficient of the outer loop. It is the integral gain coefficient of the outer loop;

[0042] By combining the disturbance compensation principle with the actual control law, the linear active disturbance rejection current component is obtained:

[0043]

[0044] in, This is the given value of the bus voltage.

[0045] Furthermore, step (6) specifically includes:

[0046] Filtering DC-side load current The high-frequency noise in the sample is discretized based on the sampling time:

[0047]

[0048] in, Let i be the filtered load current at time k. L (k) represents the load current at time k before filtering, an intermediate quantity. ω f The angular frequency of a first-order low-pass filter;

[0049] By directly feeding the load-side power forward to the q-axis current reference, the load feedforward current component is obtained:

[0050]

[0051] Will With the self-rejection current component Adding them together, we obtain the q-axis current reference of the outer ring of the multiphase permanent magnet generator. .

[0052] Furthermore, step (7) specifically includes:

[0053] Limit the q-axis current reference: ,in, This indicates the lower limit of the q-axis current reference. This indicates the upper limit of the reference for the q-axis current; 'sat' represents the operator.

[0054] when When saturation occurs, the saturated control quantity is fed back to the virtual control domain: ,in, This is a virtual control quantity under the limiting state;

[0055] Based on the virtual control quantity under the limiting state, update the integral variable in the linear active disturbance rejection current component at the next time step:

[0056]

[0057] in, It is the gain against integral saturation, and e(k) is the tracking error at time k.

[0058] Furthermore, the six-phase reference voltage is converted into the duty cycle signal for each phase. , where d j The duty cycle output of each phase of a multiphase permanent magnet generator. This indicates the calculated maximum value of the six-phase voltage vector. This represents the minimum value of the calculated six-phase voltage vector.

[0059] A bus capacitor energy storage self-disruption suppression and voltage stabilization control device for a multiphase permanent magnet generator includes:

[0060] The signal acquisition module is used to acquire the real-time output DC bus voltage, DC side load current, electrical angle, and electrical angular velocity of the generator, and to receive the bus voltage set by the host computer.

[0061] The bus energy balance module calculates the generator electromagnetic power through coordinate transformation and establishes an energy balance equation based on the square of the bus voltage.

[0062] The energy state equation transformation module organizes the energy balance equation into a first-order equivalent controlled object and transforms it into the standard form of active disturbance rejection control containing the total disturbance term.

[0063] The extended state observer module constructs a linear extended state observer to estimate the square of the DC bus voltage and the total disturbance online.

[0064] The error tracking and control module calculates the tracking error between the given square of the bus voltage and the estimated value of the square of the DC bus voltage, generates virtual control quantity through the control algorithm, and obtains the active disturbance rejection current component based on the disturbance compensation principle.

[0065] The load current feedforward control module performs low-pass filtering on the DC-side load current, constructs the load feedforward current component, and superimposes it with the obtained linear active disturbance rejection current component to obtain the q-axis current reference.

[0066] The given current anti-saturation output module performs amplitude limiting and anti-integral saturation feedback on the q-axis current setting;

[0067] The generator current inner loop control module receives the q-axis current and the zero current inputs of the d, x, and y axes, and performs current closed-loop control through a PI controller to generate the given voltage in a multi-axis orthogonal coordinate system.

[0068] The dual three-phase carrier modulation module transforms the given voltage to the natural coordinate system via coordinate inverse transformation and generates the duty cycle control signal for each phase using a carrier modulation control algorithm.

[0069] The dual three-phase generator rectifier module receives the duty cycle signal and drives the reverse power switch to operate, thereby achieving closed-loop voltage regulation control of the DC bus voltage by adjusting the generator output power.

[0070] The beneficial effects of this invention are:

[0071] 1) By selecting the square of the DC bus voltage as the controlled object, this invention achieves linearization of the nonlinear system from the perspective of energy balance, and significantly improves the control consistency of the controller under different voltage levels.

[0072] 2) This invention utilizes a linear expansion state observer to capture changes in internal system parameters and sudden changes in external load in real time, and performs active compensation, effectively suppressing the impact of load fluctuations on DC bus voltage and reducing voltage drop and overshoot.

[0073] 3) This invention uses a composite structure of load current feedforward and active disturbance rejection control to enable the system to make feedforward compensation the instant the load changes, which greatly shortens the time for the system to recover to steady state.

[0074] 4) This invention introduces an anti-integral saturation mechanism, which solves the problem of integral failure under large signal regulation. Combined with the current limiting function, it ensures that the system can still operate smoothly under extreme conditions, protecting the safety of the motor and power devices. Attached Figure Description

[0075] Figure 1 This is a flowchart of the bus capacitor energy storage self-disruption voltage regulation control method of the present invention;

[0076] Figure 2 This is a system topology diagram of the dual three-phase generator in this invention;

[0077] Figure 3 This is a simulation result of voltage fluctuation during bus load switching using traditional control methods.

[0078] Figure 4 This is a simulation result diagram of voltage fluctuation during bus load switching using the control method of this invention;

[0079] Figure 5 This is a simulation result diagram of the control method of the present invention in terms of bus current fluctuation;

[0080] Figure 6 This is a simulation result diagram of the six-phase current of the generator during load switching using the control method of this invention;

[0081] Figure 7 This is a structural block diagram of the bus capacitor energy storage self-disruption voltage regulation control device of the present invention. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0083] like Figure 1 As shown, the bus capacitor energy storage self-disturbance suppression voltage regulation control method of the multiphase permanent magnet generator of the present invention includes the following steps:

[0084] Step 1) Real-time acquisition of DC bus voltage, DC-side load current (i.e., bus current), generator electrical angular velocity, electrical angle, and six-phase current, and receiving the given value of the bus voltage. The system topology diagram of the dual three-phase permanent magnet synchronous generator is shown below. Figure 2 As shown;

[0085] Step 1.1) Use a bus voltage sensor to collect DC bus voltage in real time. ;

[0086] Step 1.2) Use a load current sensor to collect the DC-side load current in real time. ;

[0087] Step 1.3) Use the motor position sensor to collect the real-time electrical angular velocity of the generator. ;

[0088] Step 1.4) Use the motor position sensor to collect the real-time electrical angle of the generator. ;

[0089] Step 1.5) Use the motor phase current sensor to collect the six-phase current of the generator. ;

[0090] Step 1.6) Obtain the bus voltage setpoint for regulated output through the host computer program. .

[0091] Step 2) Using the square of the bus voltage corresponding to the energy stored in the bus capacitor as the controlled output, construct the real-time square of the DC bus voltage to realize the linearization of the nonlinear system;

[0092] Step 2.1) Based on the six-phase current and real-time electrical angle collected in step 1), the current in the synchronous rotating coordinate system is obtained through coordinate transformation, which can be expressed as:

[0093]

[0094] in, It is the d-axis current of the synchronously rotating coordinate system. It is the q-axis current of the synchronously rotating coordinate system. It is the x-axis current of the synchronously rotating coordinate system. It is the y-axis current of the synchronously rotating coordinate system.

[0095] Step 2.2) Calculate the electromagnetic power output of the dual three-phase permanent magnet synchronous generator in the synchronous rotating coordinate system, which can be expressed as:

[0096]

[0097] in, This refers to the flux linkage amplitude of the permanent magnet in the generator. Power injected into the DC bus on the generator side.

[0098] Step 2.3) Construct the DC bus energy balance equation for the dual three-phase permanent magnet synchronous generator, which can be expressed as:

[0099]

[0100] in, It is the capacitance value on the DC bus. This represents the load power.

[0101] Step 3) Establish a first-order equivalent controlled object based on the DC bus capacitor energy balance equation, and rearrange it into the standard form of linear active disturbance rejection;

[0102] Step 3.1) To simplify the controller design, the controlled variable is selected as the square of the DC bus voltage, i.e. Then, the DC bus energy balance equation of the dual three-phase permanent magnet synchronous generator can be further expressed as:

[0103]

[0104] Step 3.2) Rearrange the DC bus energy balance equation into the linear active disturbance rejection standard form, which can be expressed as:

[0105]

[0106] in, express The differential, It is a control input. It is about controlling the gain. It is the total disturbance that includes both the disturbance and the model uncertainty.

[0107] Step 4) Construct a linear extended state observer to estimate the real-time DC bus voltage square and total disturbance online, and obtain the estimated values ​​of the DC bus voltage square and the total disturbance.

[0108] Step 4.1) Total disturbance Considered an expansion state An extended state-space model can be established, which can be expressed as:

[0109]

[0110] in, express The differential, and , For the total disturbance, Let be the rate of change of the disturbance.

[0111] Step 4.2) Design a second-order linear extended state observer to observe the disturbance, which can be expressed as:

[0112]

[0113] in, yes The estimated value, It is the total disturbance The estimated value, and It is the gain of the observer.

[0114] Step 4.3) Using the bandwidth parameterization method, the observer characteristic polynomial in Step 4.2) is configured as follows:

[0115]

[0116] Solve for the gain of the observer and They are respectively:

[0117]

[0118] Where s is the Laplace field operator, This represents the bandwidth of the observer.

[0119] The obtained gain and Substituting these values ​​into the observer in step 4.2), we obtain estimates of the square of the DC bus voltage and the total disturbance.

[0120] Step 5) The difference between the given square voltage and the estimated value of the square DC bus voltage is used as the tracking error, and then a virtual control quantity is generated and the active disturbance rejection current component is obtained according to the disturbance compensation principle.

[0121] Step 5.1) Define the tracking error e such that Virtual control quantities are obtained through a PI controller. It can be represented as:

[0122]

[0123] in, It is the proportional gain coefficient of the outer loop. It is the integral gain coefficient of the outer loop.

[0124] Step 5.2) Combining the disturbance compensation principle with the actual state feedback control law, the linear active disturbance rejection current component is obtained, which can be expressed as:

[0125] .

[0126] Step 6) Filter the load current and construct the load feedforward current component, then superimpose it with the obtained active disturbance rejection current component to obtain the q-axis current reference.

[0127] Step 6.1) Use a first-order low-pass filter to filter out the measured DC-side load current. The high-frequency noise in the sample, discrete according to the sampling time, can be expressed as:

[0128]

[0129] Among them, intermediate quantity , Let i be the filtered load current at time k. L (k) represents the load current at time k before filtering, and the angular frequency of the first-order low-pass filter. First-order low-pass filter electrical frequency Hz.

[0130] Step 6.2) To accelerate the dynamic response of the load, the load-side power is directly fed forward to the q-axis current reference. From the power balance relationship, we can obtain:

[0131]

[0132] Step 6.3) The load feedforward current component obtained in Step 6.2) The self-rejection current component obtained in step 5.3) By adding them together, the final setpoint for the outer loop of the dual three-phase permanent magnet synchronous generator can be obtained. It can be represented as:

[0133] .

[0134] Step 7) Limit the q-axis current reference and perform anti-integral saturation processing before outputting. , which serves as the inner current loop reference for the generator;

[0135] Step 7.1) Limit the q-axis current reference obtained in Step 6.3) to prevent damage due to excessive starting current. This can be expressed as:

[0136]

[0137] in, This indicates the lower limit of the q-axis current reference. This indicates the upper limit of the q-axis current reference. The `sat` operator limits the q-axis current output to between the upper and lower limits.

[0138] Step 7.2) When the output of step 7.1) When saturation occurs, the saturation information needs to be fed back to the integrator to prevent integral saturation. The saturated virtual control quantity is then fed back to the virtual control domain, which can be expressed as:

[0139]

[0140] in, This is the virtual control quantity under the limiting state.

[0141] Step 7.3) Based on the virtual control quantity under the limiting state, update the integral variable in step 5.1) at the next moment, which can be expressed as:

[0142]

[0143] in, It is a gain that resists integral saturation.

[0144] Step 8) Use a PI controller to... With q-axis current The difference is used for closed-loop control, and the generated q-axis voltage is used as the voltage reference for the generator. The carrier modulation control strategy is used to convert the reference voltage into the duty cycle of each phase for output, which is applied to the rectifier / converter and finally to the generator. Thus, the DC bus voltage is stabilized by using the bus capacitor to store energy.

[0145] Step 8.1) Q-axis current setting to combat saturation output With q-axis current reference The difference is calculated to obtain the difference between the actual current and the given current.

[0146] Step 8.2) Using the id=0 control strategy, the given values ​​of the d-axis current, x-axis current, and y-axis current are set to 0, and the difference between the actual d-axis, x-axis, and y-axis currents and the given currents is obtained.

[0147] Step 8.3) Use a PI controller to perform closed-loop control on the difference in the generator's inner loop current to obtain the given voltages for the d-axis, q-axis, x-axis, and y-axis of the dual three-phase permanent magnet synchronous generator.

[0148] Step 8.4) Transform the given voltages on the d-axis, q-axis, x-axis, and y-axis to the natural coordinate system using inverse coordinate transformation to obtain U. a U b U c U d U e U f The reference is given.

[0149] Step 8.5) The obtained reference voltage is converted into a pulse duty cycle signal using a carrier modulation control strategy and applied to the inverter to form a closed-loop control of the generator system, which can be expressed as:

[0150]

[0151] Where, d j It is the duty cycle output of each phase of a dual three-phase generator. This indicates the calculated maximum value of the six-phase voltage vector. This represents the minimum value of the calculated six-phase voltage vector.

[0152] Finally, the effectiveness of this method was verified using simulation software. By comparison... Figure 3 Simulation results of voltage fluctuations during bus load switching using traditional control methods and Figure 4 The simulation results of voltage fluctuation during bus load switching using the method of this invention show that the method of this invention can quickly stabilize the bus voltage. Figure 5 The simulation results show the bus current fluctuations during load switching using the method of the present invention. It can be seen that the method of the present invention can effectively achieve stable control under load current changes. Figure 6 The simulation results of the six-phase current waveform of the method of the present invention show that the six-phase current waveform remains sinusoidal without distortion, which has a good effect on suppressing the loss of the power generation system.

[0153] like Figure 7 As shown, the present invention also provides a bus capacitor energy storage self-disruption suppression and voltage stabilization control device for a multiphase permanent magnet generator, comprising:

[0154] The signal acquisition module is used to acquire the DC bus voltage, DC side load current, electrical angle, and electrical angular velocity output by the generator, and to receive the bus voltage value set by the host computer.

[0155] The bus energy balance module calculates the generator electromagnetic power through coordinate transformation, establishes an energy balance equation based on the square of the bus voltage, and realizes the linearization of the nonlinear system.

[0156] The energy state equation transformation module organizes the energy balance equation into a first-order equivalent controlled object and transforms it into the standard form of active disturbance rejection control containing the total disturbance term.

[0157] The extended state observer module constructs a linear extended state observer to estimate the real-time square of the DC bus voltage and the total disturbance online.

[0158] The error tracking and control module calculates the tracking error between the given square voltage and the estimated value of the square DC bus voltage, generates virtual control quantity through control algorithm, and obtains the active disturbance rejection current component based on the disturbance compensation principle.

[0159] The load current feedforward control module performs low-pass filtering on the DC-side load current, constructs the load feedforward current component, and superimposes it with the obtained linear active disturbance rejection current component to obtain the q-axis current reference, so as to compensate for load sudden changes and improve the dynamic response speed of the system.

[0160] The given current anti-saturation output module performs amplitude limiting and anti-integral saturation feedback on the q-axis current setting to prevent excessive saturation of the control quantity;

[0161] The generator current inner loop control module receives the q-axis current and the zero current inputs of the d, x, and y axes, and performs current closed-loop control through a PI controller to generate the given voltage in a multi-axis orthogonal coordinate system.

[0162] The dual three-phase carrier modulation module transforms the given voltage to the natural coordinate system via coordinate inverse transformation and generates the duty cycle control signal for each phase using a carrier modulation control algorithm.

[0163] The dual three-phase generator rectifier module receives the duty cycle signal and drives the reverse power switch to operate, thereby achieving closed-loop voltage regulation control of the DC bus voltage by adjusting the generator output power.

[0164] The embodiments described above are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for self-disruption suppression and voltage regulation control of bus capacitor energy storage in a multiphase permanent magnet generator, characterized in that, Includes the following steps: Step (1): Real-time acquisition of DC bus voltage, DC side load current, generator electric angular velocity, generator electric angle, and six-phase current, and receiving the given bus voltage; Step (2): Construct the energy balance equation of the bus capacitor based on the square of the DC bus voltage; Step (3): Based on the bus capacitor energy balance equation, establish the first-order equivalent controlled object and rearrange it into the standard form of linear active disturbance rejection; Step (4): Construct a linear extended state observer to estimate the square of the DC bus voltage and the total disturbance online, and obtain the estimated value of the square of the DC bus voltage and the estimated value of the total disturbance. Step (5): The difference between the given square bus voltage and the estimated square DC bus voltage is used as the tracking error to generate a virtual control quantity, and the linear active disturbance rejection current component is obtained based on the disturbance compensation principle. Step (6): Filter the DC-side load current and construct the load feedforward current component, then superimpose it with the linear active disturbance rejection current component to obtain the q-axis current reference. Step (7): Limit the q-axis current reference and perform anti-integral saturation processing before outputting. , which serves as the inner current loop reference for the generator; Step (8), use a PI controller to... The difference between the current and the q-axis is used for closed-loop control. The resulting q-axis voltage is used as the given voltage of the generator. The id=0 control strategy is adopted to determine the given voltages of the d-axis, x-axis and y-axis. All given voltages are transformed by coordinate to obtain the six-phase reference voltage. The six-phase reference voltage is converted into the duty cycle signal of each phase and applied to the inverter, thereby realizing closed-loop DC bus voltage regulation control by utilizing the energy storage of the bus capacitor.

2. The bus capacitor energy storage self-disturbance suppression voltage regulation control method for multiphase permanent magnet generators according to claim 1, characterized in that, Step (2) specifically includes: The real-time collected six-phase current is transformed to obtain the current in a synchronous rotating coordinate system; the electric angle of the generator participates in the coordinate transformation. Calculating the electromagnetic power of a multiphase permanent magnet generator in a synchronous rotating coordinate system using the q-axis current. ; Furthermore, the DC bus energy balance equation for the dual three-phase permanent magnet synchronous generator is constructed: ,in, It is the capacitance value on the DC bus. For load power, This is the DC bus voltage.

3. The bus capacitor energy storage self-disturbance suppression voltage regulation control method for multiphase permanent magnet generators according to claim 2, characterized in that, Step (3) specifically includes: The controlled variable is selected as the square of the DC bus voltage, i.e. The DC bus energy balance equation can be further expressed as: Rearranged into the standard form of linear active disturbance rejection: in, The electric angular velocity of the generator. This refers to the flux linkage amplitude of the permanent magnet in the generator. It is the q-axis current of the synchronously rotating coordinate system. express The differential, To control the input, To control the gain, This represents the total disturbance.

4. The bus capacitor energy storage self-disturbance suppression and voltage stabilization control method for a multiphase permanent magnet generator according to claim 3, characterized in that, Step (4) specifically includes: Total disturbance Considered an expansion state Establish an extended state-space model: in, yes The differential, and , For the total disturbance, The rate of change of the disturbance; Design a second-order linear extended state observer to observe disturbances: in, yes The estimated value, It is the total disturbance The estimated value, and It is the gain of the observer; Using a bandwidth parameterization method, the observer characteristic polynomial is configured as follows: Solve for the gain of the observer Where s is the Laplace field operator, The bandwidth of the observer; The obtained gain and Substituting these values ​​into the second-order linear extended state observer, we obtain estimates of the square of the DC bus voltage and the total disturbance.

5. The bus capacitor energy storage self-disturbance suppression voltage regulation control method for multiphase permanent magnet generators according to claim 4, characterized in that, Step (5) specifically includes: Define the tracking error e such that Virtual control quantities are obtained through a PI controller. : in, It is the proportional gain coefficient of the outer loop. It is the integral gain coefficient of the outer loop; By combining the disturbance compensation principle with the actual control law, the linear active disturbance rejection current component is obtained: in, This is the given value of the bus voltage.

6. The bus capacitor energy storage self-disturbance suppression voltage regulation control method for multiphase permanent magnet generators according to claim 5, characterized in that, Step (6) specifically includes: Filtering DC-side load current The high-frequency noise in the sample is discretized based on the sampling time: in, Let i be the filtered load current at time k. L (k) represents the load current at time k before filtering, an intermediate quantity. ω f The angular frequency of a first-order low-pass filter; By directly feeding the load-side power forward to the q-axis current reference, the load feedforward current component is obtained: Will With the self-rejection current component Adding them together, we obtain the q-axis current reference of the outer ring of the multiphase permanent magnet generator. .

7. The bus capacitor energy storage self-disturbance suppression voltage regulation control method for a multiphase permanent magnet generator according to claim 6, characterized in that, Step (7) specifically includes: Limit the q-axis current reference: ,in, This indicates the lower limit of the q-axis current reference. This indicates the upper limit of the q-axis current reference; 'sat' represents the operator. when When saturation occurs, the saturated control quantity is fed back to the virtual control domain: ,in, This is a virtual control quantity under the limiting state; Based on the virtual control quantity under the limiting state, update the integral variable in the linear active disturbance rejection current component at the next time step: in, It is the gain against integral saturation, and e(k) is the tracking error at time k.

8. The bus capacitor energy storage self-disturbance suppression voltage regulation control method for multiphase permanent magnet generators according to claim 7, characterized in that, The six-phase reference voltage is converted into the duty cycle signal for each phase. , where d j The duty cycle output of each phase of a multiphase permanent magnet generator. This indicates the calculated maximum value of the six-phase voltage vector. This represents the minimum value of the calculated six-phase voltage vector.

9. An apparatus for implementing the bus capacitor energy storage self-disturbance suppression voltage regulation control method for a multiphase permanent magnet generator according to any one of claims 1-8, characterized in that, include: The signal acquisition module is used to acquire the real-time output DC bus voltage, DC side load current, electrical angle, and electrical angular velocity of the generator, and to receive the bus voltage set by the host computer. The bus energy balance module calculates the generator electromagnetic power through coordinate transformation and establishes an energy balance equation based on the square of the bus voltage. The energy state equation transformation module organizes the energy balance equation into a first-order equivalent controlled object and transforms it into the standard form of active disturbance rejection control containing the total disturbance term. The extended state observer module constructs a linear extended state observer to estimate the square of the DC bus voltage and the total disturbance online. The error tracking and control module calculates the tracking error between the given square of the bus voltage and the estimated value of the square of the DC bus voltage, generates virtual control quantity through the control algorithm, and obtains the active disturbance rejection current component based on the disturbance compensation principle. The load current feedforward control module performs low-pass filtering on the DC-side load current, constructs the load feedforward current component, and superimposes it with the obtained linear active disturbance rejection current component to obtain the q-axis current reference. The given current anti-saturation output module performs amplitude limiting and anti-integral saturation feedback on the q-axis current setting; The generator current inner loop control module receives the q-axis current and the zero current inputs of the d, x, and y axes, and performs current closed-loop control through a PI controller to generate the given voltage in a multi-axis orthogonal coordinate system. The dual three-phase carrier modulation module transforms the given voltage to the natural coordinate system via coordinate inverse transformation and generates the duty cycle control signal for each phase using a carrier modulation control algorithm. The dual three-phase generator rectifier module receives the duty cycle signal and drives the reverse power switch to operate, thereby achieving closed-loop voltage regulation control of the DC bus voltage by adjusting the generator output power.

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